Research Of Avoid Obstacle For Mobile Robot Based On Embedded System

Mobile robot is a combination of automatic control, computer technology and sensortechnology and other disciplines in the field of research. Robot need constantly collect theenvironment information, due to the uncertainty of the external environment, the robot fromthe beginning to the end may encounter obstacles, and can’t be simple run straight, the robotshould effectively avoid obstacles. In this article introduces the research background andsignificance of mobile robots, for mobile robot research status at home and abroad in recentyears are analyzed the key technology of mobile robot, analyzed the intelligent navigation andavoid obstacle in detail.In this paper, the mobile robot driven by two wheels, using embedded system as thesystem control platform, through the comparative and analysis, decide using Linux as themain control system. Use samsung r&d production S3C2440A as the embedded maincontroller, using ultrasonic ranging sensor to perceived the distance information, using dcmotor and motor driver L298N as robot motion control system. A detailed analysis theembedded system platform, based on the computer build a embedded system developmentenvironment, transplant the u-boot, tailoring the Linux kernel and file system, transplant themto the robot hardware platforms. Based on the Linux platform hardware and software,programing the ultrasonic sensor and motor’s driver, the hardware is verified by experimenton the Linux platform can run well. Robot use fuzzy control algorithm as the obstacleavoidance algorithm, use matlab design the membership functions, according to all kinds ofobstacles that you might encounter situation, establish the corresponding fuzzy rules.At the end of the paper, use mobotsim as simulation experiment of avoid obstacle, theresults show that the robot can effectively avoid the obstacle in the simple situation. Inembedded systems based on fuzzy control algorithm, write an application, experiment innormally situation, the experiment show that the robot can efficiently complete the task ofobstacle avoidance.